System for testing intelligent vehicles

Abstract

A system for testing intelligent vehicles, including a test bench, a hardware-in-the-loop sub-system, a software-in-the-loop sub-system, a target-in-the-loop sub-system and a test management platform. The test bench is configured to simulate the resistance of the actual road according to the road resistance parameters, and simulate the posture of the actual road according to the road posture parameters.

What is claimed is: 
     
       1. A system for testing an intelligent vehicle, comprising:
 a test bench; 
 a hardware-in-the-loop sub-system; 
 a software-in-the-loop sub-system; 
 a target-in-the-loop sub-system; and 
 a test management platform; 
 wherein the test bench is configured to load the intelligent vehicle, and simulate a resistance of an actual road according to road resistance parameters and a posture of the actual road according to road posture parameters; 
 the test bench comprises a test stand, a road resistance simulation sub-system, a roller, a servo motor and a road posture simulation sub-system; 
 wherein the road posture simulation sub-system is configured to:
 receive posture parameters including slope and inclination of a road model, sent by the test management platform; 
 calculate a pitch angle and a roll angle of the test stand according to the posture parameters; and 
 control the test stand to move to a posture corresponding to the pitch angle and the roll angle to realize simulation of the posture of the actual road; 
 the servo motor is configured to drive the roller; the road resistance simulation sub-system comprises a proportional-integral-derivative (PID) controller, a servo driver and a torque measurement device; and the road resistance simulation sub-system is configured to perform PID control on the servo motor according to the road resistance parameters to allow the servo motor to drive the roller to apply corresponding road resistance to tires of the intelligent vehicle, wherein a difference between the road resistance parameters and a torque of the roller detected by the torque measurement device is calculated by the PID controller; 
 
 the hardware-in-the-loop sub-system is configured to construct a specific test environment for a hardware of the intelligent vehicle, and send data of a test scenario to the hardware of the intelligent vehicle via the specific test environment to test response of the intelligent vehicle in the test scenario; 
 the software-in-the-loop sub-system is configured to input the data of the test scenario into an electronic control unit of the intelligent vehicle to test the response of the intelligent vehicle in the test scenario; 
 the target-in-the-loop sub-system is configured to present different traffic scenario targets in a specific way, respectively, to test identification and response of the intelligent vehicle to the traffic scenario targets; and 
 the test management platform is configured to generate the data of the test scenario, and send the data of the test scenario to the hardware-in-the-loop sub-system when a hardware-in-the-loop testing is performed, or send the data of the test scenario to the software-in-the-loop sub-system when a software-in-the-loop testing is performed, or control the target-in-the-loop sub-system to present different traffic scenario targets when a target-in-the-loop testing is performed; the test management platform is further configured to generate the road resistance parameters and the road posture parameters, and send the road resistance parameters and the road posture parameters to the test bench; and the test management platform is further configured to receive and save test data of the response of the intelligent vehicle in the test scenario and test data of the identification and response of the intelligent vehicle to the traffic scenario targets. 
 
     
     
       2. The system of  claim 1 , wherein the test bench further comprises a steering follow-up sub-system; and the steering follow-up sub-system is configured to follow a steering angle of wheels of the intelligent vehicle to measure the steering angle of the wheels. 
     
     
       3. The system of  claim 1 , wherein the hardware-in-the-loop sub-system comprises a millimeter-wave radar hardware-in-the-loop module; the millimeter-wave radar hardware-in-the-loop module comprises a millimeter-wave radar anechoic chamber and a millimeter-wave radar target simulator; and the millimeter-wave radar hardware-in-the-loop module is configured to send a millimeter-wave signal to a millimeter-wave radar placed in the millimeter-wave radar anechoic chamber according to the data of the test scenario, so as to perform an anechoic test of the millimeter-wave radar. 
     
     
       4. The system of  claim 1 , wherein the hardware-in-the-loop sub-system further comprises a camera hardware-in-the-loop module, and the camera hardware-in-the-loop module comprises a video camera obscura and a display; and the display is configured to display a video of the test scenario to a camera placed in the video camera obscura according to the data of the test scenario, so as to perform a camera obscura test of the camera. 
     
     
       5. The system of  claim 1 , wherein the hardware-in-the-loop sub-system further comprises a vehicle-to-everything device hardware-in-the-loop module; and the vehicle-to-everything device hardware-in-the-loop module is configured to convert information of a traffic participant in the data of the test scenario into vehicle-to-everything air interface signals and send the vehicle-to-everything air interface signals to an on-board unit of the intelligent vehicle, so as to perform an on-board unit-in-the-loop testing; and the vehicle-to-everything device hardware-in-the-loop module is also configured to perform signaling testing on a vehicle-to-everything communication terminal of the intelligent vehicle. 
     
     
       6. The system of  claim 1 , wherein the target-in-the-loop sub-system comprises at least one of a traffic sign, a gantry, a road marking simulator, a movable object, an obstacle simulator, an environment simulator and an electronic traffic sign;
 the traffic sign is placed on the test bench to test a capability of the intelligent vehicle to identify and detect the traffic sign; 
 the gantry is arranged on the test bench to display gantry information, so as to test a capability of the intelligent vehicle to identify the gantry information; 
 the road marking simulator is configured to simulate markings of the actual road to test a capability of the intelligent vehicle to identify the markings; 
 the movable object and the obstacle simulator are configured to drive a mobile platform carrying a simulated traffic participant to move according to a preset route, so as to test a capability of the intelligent vehicle to identify the movable object and an obstacle; 
 the environment simulator is configured to adjust parameters of a test environment; and 
 the electronic traffic sign is configured to display traffic signs via a LED screen to test a capability of the intelligent vehicle to identify the electronic traffic sign. 
 
     
     
       7. The system of  claim 1 , wherein the test management platform generates the data of the test scenario from a database of natural traffic scenarios through a cross-entropy importance sampling method. 
     
     
       8. The system of  claim 1 , further comprising an audio-visual workstation; and the audio-visual workstation is configured to display videos and sounds of the test scenario.